TWI709445B - Three-dimensional flexible roll forming device and method - Google Patents

Abstract

A three-dimensional flexible roll forming device and method. The forming device includes: a machine, first to third forming roller assemblies and a control unit; the application control unit controls the first and second forming roller assemblies and the third forming roller respectively The interaction of the wheel assembly, the first forming roller assembly makes the first roller rotate, and if necessary, the second forming roller assembly makes the second roller rotate, move along the second coordinate axis and parallel to the first , The plane formed by the two coordinate axes rotates horizontally, so that the third forming roller assembly moves along the first coordinate axis and the third coordinate axis, and combined with the curved surface of the third roller, a sheet metal part can be formed into one The free-form surface sheet piece, and the curved surface shape of the free-form surface sheet piece is the same as or different from the curvature of the curved surface of the third set of rollers.

Description

Three-dimensional flexible roll forming device and method

The invention relates to a three-dimensional flexible roll forming device and method, in particular to a device and method for forming a free-form surface sheet piece.

The use of rollers to roll a sheet metal is an efficient, low-cost and clean sheet metal forming method. In the forming process of the currently used roll forming technology, the position of the forming device is fixed. By moving the sheet material and cooperating with the forming rollers of the forming device to rotate, the sheet material is rolled into shape.

In the current common forming devices, the path of the rollers is easily limited. For example, the position of the roller forming stand is fixed, and only the forming rollers can rotate; in addition, the linear actuator is used to push the roller frame to move in translation. , So that the forming roller can move horizontally and linearly; in addition, a feeding mechanism is provided to slide a specific position through the clamping sheet to convey the sheet to the forming roller for roll forming.

However, the conventional forming device has complex mechanisms and complicated operations, and has a large torque, which is prone to off-scale, resulting in high error values, short service life, and low operating stability; The roller wheel is linked with the roller frame. Since the roller frame can only move in translation or rotate within an angle, the rotation angle of the forming roller is restricted.

In addition, in the prior art, Taiwan Application No. 106139951 discloses a device for a flexible roll forming path verification platform that can form irregular curves on the side of a sheet metal part. The patent lacks the automatic control structure and combination technology corresponding to the vertical direction of the sheet metal parts, so it is impossible to form free-form surface sheet parts.

The purpose of the present invention is to provide a three-dimensional flexible roll forming device, which can provide simultaneous horizontal and vertical feeding movement, individual movement of the first and second forming roller assemblies, individual angle rotation, first and second rollers The individual rotation of the wheels is controlled and coordinated with the third roller that supports the first and second rollers to press, and the position of the first and second rollers to press the sheet parts on the third roller can be positioned in a three-dimensional space. A section of the space curve path of the coordinates is used to form a free-form surface sheet.

Another object of the present invention is to provide a flexible roll forming method, which can simultaneously carry out horizontal and vertical feeding movement, and cooperate with the third roll supporting the first and second rolls to press, and the control unit controls the second roll A free-form surface sheet can be formed under the control of the movement path of the first to third rollers.

In order to achieve the purpose of the above-mentioned three-dimensional flexible roll forming device, the three-dimensional flexible roll forming device provided by the present invention is suitable for forming a sheet metal part into a free-form surface sheet part, including: a machine with a machine plane, Create a first coordinate axis (coordinate axis x), a second coordinate axis (coordinate axis y) and a third coordinate axis (coordinate axis z) that are perpendicular to each other to form a spatial coordinate system corresponding to the machine, wherein the direction of the first coordinate axis is relative to The horizontal movement of the plane of the machine, the second coordinate axis direction relative to the longitudinal movement of the machine plane; the third coordinate axis direction relative to the vertical movement of the machine plane; a first forming roller assembly, including: a A first roller moving table arranged on the machine and moving linearly along the direction of the second coordinate axis, one arranged on the first roller moving table And a first roller horizontal rotating table that rotates horizontally parallel to the plane formed by the first coordinate axis and the second coordinate axis, a first roller rotating table arranged on the first roller horizontal rotating table, the second A roller rotation table has a first drive shaft that rotates along a central axis of the first roller rotation table, and a first roller is arranged on the first drive shaft; a second forming roller assembly includes: A second roller moving table arranged on the machine and moving linearly along the direction of the second coordinate axis, and a second roller moving table arranged on the second roller moving table and parallel to the first coordinate axis and the second coordinate axis A second roller horizontal rotating table with a plane rotating horizontally, a second roller rotating table arranged on the second roller horizontal rotating table, and the second roller rotating table having an axis along the second roller A second drive shaft that rotates from a central axis of the turntable has a second roller set on the second drive shaft; a third forming roller assembly is set between the first and second forming roller assemblies, It comprises: a first position adjustment table which is arranged on the machine and moves linearly along the first coordinate axis direction, and a first position adjustment table which is arranged on the first position adjustment table and moves linearly up and down along the third coordinate axis direction A second position adjustment table, a mounting seat set on the second position adjustment table, and a third roller wheel detachably arranged on the mounting seat, the third roller wheel system facing the first roller, The top surface on one side of the second roller includes a curved surface on which the sheet metal part is placed; a control unit connected to the first, second, and third forming roller assemblies and the position adjustment station respectively The sexual coupling is used to control the actions of the first and second roller moving tables, the first and second roller horizontal rotating tables, the first and second roller rotating tables, and the position adjustment table respectively.

In one embodiment, the sheet metal part is quickly positioned and clamped on the third roller by a clamp.

In one embodiment, when the first and second roller moving tables are controlled by the control unit to drive the corresponding first and second roller horizontal rotating tables to move linearly, the 1. The second roller horizontal rotating table can also independently receive the control of the control unit to perform horizontal rotation, and the first and second roller autorotating tables can also independently receive the control of the control unit to perform the corresponding first , The rotation of the second roller.

In one embodiment, the first position adjustment table and/or the second position adjustment table independently receive the control of the control unit to perform linear and/or vertical movement.

In one embodiment, the first and second roller moving stages of the first and second forming roller assemblies are respectively driven by a servo motor to drive a slider of a screw mechanism for transmission and positioning, and the first Or the second roller moving table is arranged on the slider.

In one embodiment, the first position adjustment table and the second position adjustment table of the third forming roller assembly are respectively driven by a servo motor to drive a slider of a screw mechanism for transmission and positioning. The first position adjustment The stage or the second position adjustment stage is arranged on the slider.

In order to achieve the objective of the flexible roll forming method described above, the flexible roll forming method provided by the present invention includes: providing the aforementioned three-dimensional flexible roll forming device; the control unit obtains a second parameter converted by the relative path parameters of each coordinate axis. According to the control parameters corresponding to each axis of the first coordinate axis, the second coordinate axis and the third coordinate axis, the corresponding first and second roller moving tables, the second roller moving tables, and the first roller moving table are driven according to the control parameters. , The action of the second roller horizontal rotating table, the first and second roller rotating tables, the first position adjustment table and the second position adjustment table to form the free-form surface sheet, and the free-form surface sheet The curved surface shape of is the same as or different from the curvature of the curved surface of the third set of rollers.

In one embodiment, the relative path parameters of each axis are analyzed in advance through a computer software to form the free-form surface and the cross-sectional profile of the sheet metal, and then a spatial sweep path is derived, and the material of the sheet metal is modified The influence of plastic fluidity and resilience factors, Then a space curve path function is generated, and the relative path parameters of each axis are calculated from the space curve path function.

In one embodiment, the control parameter includes the position, speed and angle of each axis of the first coordinate axis, the second coordinate axis, and the third coordinate axis.

The features of the present invention include: the action of the flexible rolling of the present invention, the first roller moving table and/or the second roller moving table can respectively move back and forth along the second coordinate axis, and during the movement, its corresponding first The horizontal rotating table with one roller and the horizontal rotating table with the second roller can simultaneously rotate clockwise or counterclockwise horizontally on the plane formed by the first and second coordinate axes, and the corresponding first roller and second roller The two rollers can be rotated by themselves, combined with the linear and vertical movement of the third forming roller assembly, and based on the third roller whose top surface is a curved surface, it can process three-dimensional curved surfaces and even free-form surface sheet metal products. . The present invention is a sheet piece produced by continuous rolling with rollers, so the curved surface has more surface quality and better forming curve. The free-form surface of the present invention is formed by the same program in one manner, and does not need to be formed in multiple stages, and the process speed is relatively fast. The actual curved surface size of the present invention is precisely expanded and formed, and there is no waste in the expansion of the material.

1‧‧‧machine

11‧‧‧machine plane

2‧‧‧The first forming roller assembly

21‧‧‧The first roller mobile stage

211‧‧‧First Servo Motor

212‧‧‧First screw mechanism

213‧‧‧First slider

22‧‧‧The first roller horizontal rotating table

23‧‧‧The first roller rotation table

231‧‧‧First drive shaft

24‧‧‧First roller

3‧‧‧Second forming roller assembly

31‧‧‧The second roller moving table

311‧‧‧Second Servo Motor

312‧‧‧Second screw mechanism

313‧‧‧Second Slider

32‧‧‧The second roller horizontal rotating table

33‧‧‧Second roller rotation table

331‧‧‧Second drive shaft

34‧‧‧Second roller

4‧‧‧The third forming roller assembly

41‧‧‧First position adjustment table

411‧‧‧Third Servo Motor

412‧‧‧Third screw mechanism

413‧‧‧The third slider

42‧‧‧Second position adjustment table

421‧‧‧Fourth Servo Motor

422‧‧‧Fourth screw mechanism

423‧‧‧The fourth slider

43‧‧‧Mounting seat

431‧‧‧Protrusion pin

44‧‧‧The third roller

441‧‧‧Surface

5‧‧‧Control Unit

6‧‧‧Fixture

W‧‧‧Sheet Metal Parts

x‧‧‧Coordinate axis

y‧‧‧coordinate axis

z‧‧‧Coordinate axis

Steps S11~S21‧‧‧ are the steps of the three-dimensional flexible roll forming method of the present invention

Figure 1 is a perspective view of an embodiment of the three-dimensional flexible roll forming device of the present invention;

2 is a front view of an embodiment of the three-dimensional flexible roll forming device of the present invention;

3 is a left side view of an embodiment of the three-dimensional flexible roll forming device of the present invention;

4 is a top view of an embodiment of the three-dimensional flexible roll forming device of the present invention;

Fig. 5 is the first forming roller assembly and the first forming roller assembly of an embodiment of the three-dimensional flexible roll forming device of the present invention A three-dimensional exploded view of the fourth roller of the three forming roller assembly, for the purpose of explanation, the second forming roller assembly on one side is hidden in this figure;

6 is a perspective view of FIG. 5 and a schematic diagram of the operations of the first forming roller assembly and the third forming roller assembly;

Figure 7 is a top view of an embodiment of the three-dimensional flexible roll forming device of the present invention, which illustrates the installation position of the sheet metal parts;

Fig. 8 is a flow chart of the three-dimensional flexible roll forming method of the present invention.

The embodiments of the present invention are described in detail below in conjunction with the drawings. The accompanying drawings are mainly simplified schematic diagrams, which only schematically illustrate the basic structure of the present invention. Therefore, only elements related to the present invention are indicated in these drawings. And the displayed components are not drawn based on the number, shape, size ratio, etc. of the actual implementation. The actual size of the actual implementation is a selective design, and the component layout may be more complicated.

In addition, the drawings of the invention are not necessarily drawn to scale. For example, the size of some elements in the drawings may be increased or decreased to help improve the understanding of various embodiments. Similarly, to discuss certain implementations, some components and/or operations may be divided into different blocks or combined into a single block. In addition, although specific embodiments have been exemplarily illustrated in the drawings of the invention and described in detail below, those skilled in the art can see that modifications, equivalents and alternatives will fall within the scope of the appended patents.

First, please refer to Figure 1 to Figure 6. The three-dimensional flexible roll forming device of this embodiment is suitable for roll forming a sheet metal part into a free-form surface sheet that can contain regular or irregular curved surfaces. The three-dimensional flexible roll forming device includes: a machine 1 with One machine plane 11, opposite A first coordinate axis, a second coordinate axis, and a third coordinate axis that are perpendicular to each other to form a spatial coordinate system should be established on the machine 1, wherein the direction of the first coordinate axis relative to the horizontal movement of the plane of the machine, the second The direction of the coordinate axis is relative to the longitudinal movement of the plane of the machine; the direction of the third coordinate axis is relative to the vertical movement of the plane of the machine. In one embodiment, but not limited to this, the first coordinate axis corresponds to the coordinate axis x, The second coordinate axis corresponds to the coordinate axis y and the third coordinate axis corresponds to the coordinate axis z. For the convenience of description, the following description of the present invention will use the definition of the first, second and third coordinate axes corresponding to the coordinate axes x, y and z to expand the description;

A first forming roller assembly 2 includes: a first roller moving table 21 arranged on the machine 1 and moving linearly along the second coordinate axis (coordinate axis y), and a first roller moving table 21 arranged on the first roller The first roller horizontal rotating table 22 that rotates horizontally on the moving table 21 and parallel to the plane (xy plane) composed of the first coordinate axis (coordinate axis x) and the second coordinate axis (coordinate axis y), one set on the first A first roller rotation table 23 on the roller horizontal rotation table 22, the first roller rotation table 23 has a first drive shaft 231 rotating along a central axis of the first roller rotation table 23, the A first roller 24 is provided on the first drive shaft 321;

A second forming roller assembly 3 includes: a second roller moving table 31 arranged on the machine 1 and moving linearly along the second coordinate axis direction (coordinate axis y), and a second roller moving table 31 arranged on the second roller A second roller horizontal rotating platform 32 that rotates horizontally on the moving table 31 and parallel to the plane composed of the first coordinate axis (coordinate axis x) and the second coordinate axis (coordinate axis y), and a second roller horizontal rotating platform 32 arranged on the second roller to rotate horizontally A second roller rotation table 33 on the table 32, the second roller rotation table 33 has a second drive shaft 331 rotating along a central axis of the second roller rotation table 33, the second drive shaft A second roller 34 is provided on 331;

A third forming roller assembly 4 is arranged between the first forming roller assembly 2 and the second Between the two forming roller assemblies 3, it includes: a first position adjustment table 41 arranged on the machine 1 and linearly moved along the first coordinate axis direction (coordinate axis x), and a first position adjustment table 41 arranged at the first position adjustment A second position adjustment table 42 on the table 41 that moves linearly up and down along the third coordinate axis (coordinate axis z) direction, a mounting seat 43 provided on the second position adjustment table 42, and a detachable The third roller 44 of the mounting seat 43. The top surface of the third roller 44 facing the first roller 24 and the second roller 34 includes a curved surface 441 for the sheet metal part. Placed on it, it is worth mentioning that in an embodiment of the present invention, the third roller 44 is of a fixed type rather than a rotating type, that is, the third roller 44 only uses the curvature of the curved surface 441 of its wheel surface. , In conjunction with the simultaneous or non-simultaneous movement of the first position adjustment table 41 and/or the second position adjustment table 42, and the first roller 24 and or the second roller in the rotation mode to form the sheet metal part The plane of the mounting seat 43 for the third roller 44 is preferably but not limited to being set parallel to the plane (xy plane) formed by the first coordinate axis (coordinate axis x) and the second coordinate axis (coordinate axis y); control unit 5 , Are respectively electrically coupled with the first forming roller assembly 2, the second forming roller assembly 3 and the third forming roller assembly 4 to control the first roller moving table 21 and the second roller respectively Wheel moving table 31, the first roller horizontal rotating table 22, the second roller horizontal rotating table 32, the first roller rotating table 23, the second roller rotating table 33, the first position adjusting table 41 Together with the action of the second position adjustment platform 42, the first roller 24, the second roller 34 and the third roller 44 are moved to the predetermined spatial position.

Please refer to Figure 5 to Figure 6. In an embodiment of the present invention, the sheet metal part is quickly positioned and clamped on the third roller 44 by a clamp 6 and the mounting seat 43. As shown in Figure 5. The above-mentioned rapid positioning mechanism design can provide a convex pin 431 and a groove (not shown) structure on the engaging surface of the fixture 6 and the mounting seat 43.

The first roller moving table 21, the second roller moving table 31 of the present invention, the first roller horizontal rotating table 22, the second roller horizontal rotating table 32, the first roller rotating table 23, The actions of the second roller rotation table 33, the first position adjustment table 41, and the second position adjustment table 42 can all operate independently. For example, the first roller moving table 21 receives the control of the control unit 5 to drive the second When a roller horizontal rotating table 22 moves linearly, the first roller horizontal rotating table 22 can also independently receive the control of the control unit 5 to perform horizontal rotation, and the first roller rotating table 23 can also independently accept The control of the control unit 5 performs the rotation of the first roller 24.

Similarly, the first position adjustment table 41 and/or the second position adjustment table 42 independently receive the control of the control unit 5 to perform linear and/or vertical movement.

In one embodiment, the first roller moving table 21 corresponding to the first forming roller assembly 2 uses a first servo motor 211 to drive a first slider 213 of a first screw mechanism 212 for transmission and For positioning, the first roller moving table 21 is set on the first sliding block 213. The second roller moving table 31 corresponding to the second forming roller assembly 3 uses a second servo motor 311 to drive a second slider 313 of a second screw mechanism 312 for transmission and positioning. The second roller The wheel moving platform 31 is set on the second sliding block 313.

In one embodiment, the third forming roller assembly 4 and the first position adjustment platform 41 are driven by a third servo motor 411 to drive a third slider 413 of a third screw mechanism 412 for transmission and positioning. A position adjustment platform 41 is installed on the third sliding block 413. The second position adjustment table 42 of the third forming roller assembly 4 uses a fourth servo motor 421 to drive a fourth slider 423 of a fourth screw mechanism 422 for transmission and positioning. The second position adjustment table 42 It is set on the fourth sliding block 423.

According to the above components, the present invention can form a curved surface, such as a free curve First, computer software is used to analyze the processing path to obtain the control parameters of each axis, and then the third roller 44 with appropriate curved surface (curvature) is installed on the mounting seat 43 of the second position adjustment table, and The sheet metal part to be processed is quickly positioned and clamped on the curved surface 441 of the third roller 44 by the clamping fixture 6. Then, the control unit 5 controls the movement path of each axis according to the aforementioned control parameters of each axis, and continuously forms the free-form surface at one time.

In addition, it needs to be particularly clarified that, as shown in FIG. 7, the first forming roller assembly 2 and the second forming roller assembly 3 of the present invention can not only operate synchronously and symmetrically, but can be performed independently. Movement, rotation and rotation. 7 also shows that the sheet metal piece W is quickly positioned and clamped on the third roller 44 by the clamping fixture 6 and the mounting seat 43.

Please continue to refer to Figure 8, and compare Figure 1, Figure 5 and Figure 6. In the three-dimensional flexible roll forming method of this embodiment, the steps include: step S11, providing the aforementioned three-dimensional flexible roll forming device, and positioning and clamping the sheet metal part on the curved surface 441 of the third roller 44; In step S21, the control unit 5 obtains a control parameter corresponding to each axis of the first coordinate axis, the second coordinate axis, and the third coordinate axis converted by the relative path parameters of each coordinate axis, and drives the corresponding control parameter according to the control parameter. The first and second roller moving tables, the second roller moving tables, the first and second roller horizontal rotating tables, the first and second roller rotating tables, the first position adjustment table and the The action of the second position adjustment table further forms the free-form surface sheet, and the curved surface shape of the free-form surface sheet is the same as or different from the curvature of the curved surface of the third set of rollers, that is, the free-form surface sheet The shape of the curved surface can be completely shaped according to the curved surface of the third set of rollers, or it can form a curvature different from the curved surface of the third set of rollers under the cooperation of the displacement and rotation of the first, second, and third forming roller assemblies.

In the foregoing embodiment, the relative path parameters of each axis of the present invention are preliminarily tested A computer software analyzes the cross-sectional profile of the free-form surface and the sheet metal part to be formed, and then derives a spatial sweep path, and corrects the influence of the plastic fluidity and spring rate of the sheet metal material to generate a space Curve path function, and calculate the relative path parameters of each axis from the space curve path function.

The aforementioned control parameters include the position, speed and angle of each axis of the first coordinate axis, the second coordinate axis, and the third coordinate axis.

It is worth mentioning that a free-form surface can be deconstructed into a model section that sweeps along a spatial path. The relative path parameters of each axis of the present invention are analyzed by a computer software to form the free-form surface. And the cross-sectional profile of the sheet metal part (that is, the aforementioned modeling section), and then derive a spatial sweep path (that is, the aforementioned space path), and modify the influence of the plastic fluidity and springback factor of the sheet metal material to produce a The space curve path function, and the relative path parameters of each axis are calculated from the space curve path function.

The above embodiments are only illustrative of the principles, features and effects of the present invention, and are not intended to limit the scope of the present invention. Anyone familiar with the art can do the same without departing from the spirit and scope of the present invention. The above embodiments are modified and changed. Any equivalent changes and modifications made by using the contents disclosed in the present invention shall still be covered by the following patent application scope. Therefore, the protection scope of the present invention should be as listed in the scope of patent application.

1: Machine

11: Machine plane

2: The first forming roller assembly

22: The first roller horizontal rotating table

23: The first roller rotation table

231: first drive shaft

24: The first roller

3: The second forming roller assembly

31: The second roller moving table

32: The second roller horizontal rotating table

33: The second roller rotation table

331: second drive shaft

34: second roller

4: The third forming roller assembly

41: The first position adjustment table

42: The second position adjustment table

44: The third roller

5: Control unit

6: Fixture

x: coordinate axis

y: coordinate axis

z: coordinate axis

Claims (9)

A three-dimensional flexible roll forming device is suitable for forming a sheet metal part into a free-form surface sheet piece. The three-dimensional flexible roll forming device includes: A machine has a machine plane, and a first coordinate axis (x axis), a second coordinate axis (y) axis and a third coordinate axis (z Axis), wherein the first coordinate axis direction relative to the horizontal movement of the machine plane, the second coordinate axis direction relative to the longitudinal movement of the machine plane; the third coordinate axis direction relative to the vertical movement of the machine plane; A first forming roller assembly, comprising: a first roller moving table arranged on the machine and moving linearly along the second coordinate axis, and a first roller moving table arranged on the first roller moving table and parallel to the A first roller horizontal rotating table that rotates horizontally on the plane formed by the first coordinate axis and the second coordinate axis, and a first roller rotating table arranged on the first roller horizontal rotating table, the first roller rotating The table has a first drive shaft that rotates along a central axis of the first roller rotation table, and a first roller is arranged on the first drive shaft; A second forming roller assembly, comprising: a second roller moving table arranged on the machine and moving linearly along the second coordinate axis, and a second roller moving table arranged on the second roller moving table and parallel to the A second roller horizontal rotating platform that rotates horizontally on the plane formed by the first coordinate axis and the second coordinate axis, a second roller autorotating platform arranged on the second roller horizontal rotating platform, and the second roller rotating on its own The table has a second drive shaft that rotates along a central axis of the second roller rotation table, and a second roller is arranged on the second drive shaft; A third forming roller assembly is arranged between the first and second forming roller assemblies, and includes: a first position that is arranged on the machine and moves linearly along the first coordinate axis A second position adjustment table that is set on the first position adjustment table and moves linearly up and down along the third coordinate axis, a mounting seat set on the second position adjustment table, and a The third roller is detachably disposed on the mounting seat. The top surface of the third roller train facing the first roller and the second roller includes a curved surface for placing the sheet metal on it. On; and A control unit is electrically coupled to the first, second, and third forming roller assemblies, respectively, for controlling the first and second roller moving tables, and the first and second rollers to rotate horizontally The operation of the table, the first and second roller rotation tables, the first position adjustment table and the second position adjustment table. The three-dimensional flexible roll forming device according to claim 1, wherein the sheet metal part is quickly positioned and clamped on the third roller by a clamp. The three-dimensional flexible roll forming device according to claim 1, wherein the first and second roller moving tables are controlled by the control unit to drive the corresponding first and second roller horizontal rotating tables to move linearly When the first and second roller horizontal rotating tables are independently controlled by the control unit to perform horizontal rotation, and the first and second roller rotating tables are independently controlled by the control unit to perform horizontal rotation. The rotation of the first and second rollers. The three-dimensional flexible roll forming device according to claim 3, wherein the first position adjustment table and/or the second position adjustment table independently receive the control of the control unit to perform linear and/or vertical movement. The three-dimensional flexible roll forming device according to claim 1, wherein the first roller moving table corresponding to the first forming roller assembly uses a first servo motor to drive a first slide of a first screw mechanism The block performs transmission and positioning, the first roller moving table is set on the first sliding block, The second roller moving table corresponding to the second forming roller assembly uses a second servo motor to drive a second sliding block of a second screw mechanism for transmission and positioning. The second roller moving table is arranged On the second slider. The three-dimensional flexible roll forming apparatus according to claim 1, wherein the third forming roller assembly and the first position adjustment stage are driven by a third slider of a third screw mechanism by a third servo motor. Positioning, the first position adjustment table is set on the third sliding block, and the second position adjustment table of the third forming roller assembly uses a fourth servo motor to drive a fourth slide of a fourth screw mechanism The block performs transmission and positioning, and the second position adjustment platform is arranged on the fourth sliding block. A three-dimensional flexible roll forming method, the steps include: Provide the three-dimensional flexible roll forming device as claimed in claim 1, and position and clamp the sheet metal part on the curved surface of the third roller; and The control unit obtains a control parameter corresponding to each axis of the first coordinate axis, the second coordinate axis, and the third coordinate axis converted by the relative path parameters of each coordinate axis, and drives the corresponding first, second, and third coordinate axes according to the control parameters. The second roller moving table, the second roller moving table, the first and second roller horizontal rotating tables, the first and second roller rotating tables, the first position adjustment table and the second position adjustment The action of the table further forms the free-form surface sheet, and the curved surface shape of the free-form surface sheet is the same as or different from the curvature of the curved surface of the third set of rollers. The three-dimensional flexible roll forming method according to claim 7, wherein the relative path parameters of the respective axial directions are analyzed in advance through a computer software to analyze the cross-sectional profile of the free-form surface and the sheet metal part to be formed, and then a space is derived Sweep the path and correct the plastic fluidity of the sheet metal material And the influence of the spring rate factor, then a space curve path function is generated, and the relative path parameters of each axis are calculated from the space curve path function. The three-dimensional flexible roll forming method according to claim 7, wherein the control parameter includes the position, speed and angle of each axis of the first coordinate axis, the second coordinate axis and the third coordinate axis.

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